/*
 * @Descripttion: 
 * @version: 
 * @Author: Eugene
 * @Date: 2023-09-13 09:29:47
 * @LastEditors: Andy
 * @LastEditTime: 2024-02-12 07:23:48
 */
/*
____/\\\\\\\\\_____        __/\\\________/\\\_        __/\\\\\\\\\\\_
 __/\\\///////\\\___        _\/\\\_______\/\\\_        _\/////\\\///__
  _\/\\\_____\/\\\___        _\/\\\_______\/\\\_        _____\/\\\_____
   _\/\\\\\\\\\\\/____        _\/\\\_______\/\\\_        _____\/\\\_____
    _\/\\\//////\\\____        _\/\\\_______\/\\\_        _____\/\\\_____
     _\/\\\____\//\\\___        _\/\\\_______\/\\\_        _____\/\\\_____
      _\/\\\_____\//\\\__        _\//\\\______/\\\__        _____\/\\\_____
       _\/\\\______\//\\\_        __\///\\\\\\\\\/___        __/\\\\\\\\\\\_
        _\///________\///__        ____\/////////_____        _\///////////__
*/
#ifndef RUI_CAN_H
#define RUI_CAN_H

#include "can.h"
#include "string.h"

union COMMUNICATION_UNION_Typdef // 使用共用体整合数据
{
    struct __packed
    {
        //遥控数据
        int16_t VX;
        int16_t VY;
        int16_t VW;
		int8_t  VZ;
		int8_t  VR;
        uint8_t DBUS_STATUS;
    } DataNeaten;
    // 接收到的数组
    uint8_t  Data[9];
};

void CAN_Filter_Init(void);
//电机can发送
void RUI_F_CAN_SEDN(CAN_HandleTypeDef* _hcan , int16_t stdid , int16_t num1 , int16_t num2 , int16_t num3 , int16_t num4);

//共用体发送
void RUI_F_CAN_SEDN_UNION(CAN_HandleTypeDef* _hcan , int16_t stdid , uint8_t* Data);

#endif
